[Cause]
Position data at and after this line caused a TCPP error. Speed estimation was interrupted, and the current robot speed is used instead.
[Countermeasure]
Check for speed limit alarms in the alarm history. A speed limit alarm may cause a TCPP error. Correct the program so that speed limit alarms do not occur. For wrist axis speed limit alarms, changing the taught speed unit from mm/sec to deg/sec may avoid the alarm. The latter is effective for large wrist axis orientation changes.
代码
Note: If TCP speed estimation is not used, no countermeasure for this warning is required.